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[paparazzi-commits] [5146] AirborneCodeReorg
|
From: |
Christophe De Wagter |
|
Subject: |
[paparazzi-commits] [5146] AirborneCodeReorg |
|
Date: |
Sun, 25 Jul 2010 14:42:43 +0000 |
Revision: 5146
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5146
Author: dewagter
Date: 2010-07-25 14:42:39 +0000 (Sun, 25 Jul 2010)
Log Message:
-----------
AirborneCodeReorg
Added Paths:
-----------
paparazzi3/trunk/conf/airframes/AirborneCodeReorg/
paparazzi3/trunk/conf/airframes/AirborneCodeReorg/LisaFw.xml
paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml
paparazzi3/trunk/conf/autopilot/fixedwing_autopilot.makefile
paparazzi3/trunk/conf/autopilot/fixedwing_common.makefile
Added: paparazzi3/trunk/conf/airframes/AirborneCodeReorg/LisaFw.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/AirborneCodeReorg/LisaFw.xml
(rev 0)
+++ paparazzi3/trunk/conf/airframes/AirborneCodeReorg/LisaFw.xml
2010-07-25 14:42:39 UTC (rev 5146)
@@ -0,0 +1,223 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<!-- Microjet Multiplex (http://www.multiplex-rc.de/)
+ Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
+ Tilted infrared sensor
+ Transparent modem
+-->
+
+<airframe name="Fixed Wing Lisa">
+ <servos>
+ <servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
+ <servo name="AILEVON_LEFT" no="2" min="1130" neutral="1575" max="1880"/>
+ <servo name="AILEVON_RIGHT" no="6" min="1980" neutral="1465" max="1170"/>
+ </servos>
+
+ <commands>
+ <axis name="THROTTLE" failsafe_value="0"/>
+ <axis name="ROLL" failsafe_value="0"/>
+ <axis name="PITCH" failsafe_value="0"/>
+ <axis name="HATCH" failsafe_value="0"/>
+ </commands>
+
+ <rc_commands>
+ <set command="THROTTLE" value="@THROTTLE"/>
+ <set command="ROLL" value="@ROLL"/>
+ <set command="PITCH" value="@PITCH"/>
+ </rc_commands>
+
+ <section name="MIXER">
+ <define name="AILEVON_AILERON_RATE" value="0.75"/>
+ <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
+ </section>
+
+ <command_laws>
+ <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
+ <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
+ <set servo="MOTOR" value="@THROTTLE"/>
+ <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
+ <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
+ </command_laws>
+
+ <section name="AUTO1" prefix="AUTO1_">
+ <define name="MAX_ROLL" value="0.85"/>
+ <define name="MAX_PITCH" value="0.6"/>
+ </section>
+
+ <section name="adc" prefix="ADC_CHANNEL_">
+ <define name="IR1" value="ADC_1"/>
+ <define name="IR2" value="ADC_2"/>
+ <define name="IR_TOP" value="ADC_3"/>
+ <define name="IR_NB_SAMPLES" value="16"/>
+
+ <define name="GYRO_ROLL" value="ADC_3"/>
+ <define name="GYRO_NB_SAMPLES" value="16"/>
+
+ </section>
+
+ <section name="INFRARED" prefix="IR_">
+ <define name="ADC_IR1_NEUTRAL" value="512"/>
+ <define name="ADC_IR2_NEUTRAL" value="512"/>
+ <define name="ADC_TOP_NEUTRAL" value="512"/>
+
+ <define name="LATERAL_CORRECTION" value="1."/>
+ <define name="LONGITUDINAL_CORRECTION" value="1."/>
+ <define name="VERTICAL_CORRECTION" value="1.5"/>
+
+ <define name="HORIZ_SENSOR_TILTED" value="1"/>
+ <define name="IR2_SIGN" value="-1"/>
+ <define name="TOP_SIGN" value="-1"/>
+
+ <define name="ROLL_NEUTRAL_DEFAULT" value="-3.6" unit="deg"/>
+ <define name="PITCH_NEUTRAL_DEFAULT" value="5" unit="deg"/>
+
+ <define name="CORRECTION_UP" value="1."/>
+ <define name="CORRECTION_DOWN" value="1."/>
+ <define name="CORRECTION_LEFT" value="1."/>
+ <define name="CORRECTION_RIGHT" value="1."/>
+ </section>
+
+ <section name="GYRO" prefix="GYRO_">
+ <define name="ADC_ROLL_NEUTRAL" value="520"/>
+ <define name="ADC_TEMP_NEUTRAL" value="476"/>
+ <define name="ADC_TEMP_SLOPE" value="0"/>
+ <define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
+ <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
+ <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
+ <define name="ROLL_SCALE"
value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)"
unit="deg/s/adc_unit"/>
+ <define name="ROLL_DIRECTION" value="-1."/>
+ </section>
+
+ <section name="BAT">
+ <define name="MILLIAMP_AT_FULL_THROTTLE" value="2000"/>
+
+ <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+ </section>
+
+ <section name="MISC">
+ <define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/>
+ <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
+ <define name="MAXIMUM_AIRSPEED" value="25." unit="m/s"/>
+ <define name="CARROT" value="5." unit="s"/>
+ <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
+ <define name="CONTROL_RATE" value="60" unit="Hz"/>
+ <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
+
+ <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
+ <define name="MIN_CIRCLE_RADIUS" value="50."/>
+ </section>
+
+ <section name="VERTICAL CONTROL" prefix="V_CTL_">
+
+ <!-- outer loop proportional gain -->
+ <define name="ALTITUDE_PGAIN" value="-0.04"/>
+ <!-- outer loop saturation -->
+ <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+ <!-- auto throttle inner loop -->
+ <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.35"/>
+ <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
+ <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
+ <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
+ <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
+ <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1"
unit="%/(m/s)"/>
+ <define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
+ <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
+ <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
+
+ <!-- auto pitch inner loop -->
+ <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
+ <define name="AUTO_PITCH_IGAIN" value="0.075"/>
+ <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
+ <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
+
+ <define name="THROTTLE_SLEW" value="0.5"/>
+
+ </section>
+
+ <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+ <define name="COURSE_PGAIN" value="-0.8"/>
+
+ <define name="ROLL_MAX_SETPOINT" value="0.7" unit="radians"/>
+ <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
+ <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+
+ <define name="PITCH_PGAIN" value="-10000."/>
+ <define name="PITCH_DGAIN" value="1.5"/>
+
+ <define name="ELEVATOR_OF_ROLL" value="2500"/>
+
+ <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+ <define name="ROLL_RATE_GAIN" value="-1500"/>
+ </section>
+
+ <section name="AGGRESSIVE" prefix="AGR_">
+ <define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate
Aggressive Climb CANNOT BE ZERO!!-->
+ <define name="BLEND_END" value="10"/><!-- Altitude Error to Blend
Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
+ <define name="CLIMB_THROTTLE" value="0.6"/><!-- Gaz for Aggressive Climb
-->
+ <define name="CLIMB_PITCH" value="0.20"/><!-- Pitch for Aggressive Climb
-->
+ <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive
Decent -->
+ <define name="DESCENT_PITCH" value="-0.15"/><!-- Pitch for Aggressive
Decent -->
+ <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for
Altitude Error Equal to Start Altitude -->
+ <define name="DESCENT_NAV_RATIO" value="1.0"/>
+ </section>
+
+ <section name="FAILSAFE" prefix="FAILSAFE_">
+ <define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
+ <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+ <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+ <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+ <define name="HOME_RADIUS" value="100" unit="m"/>
+ </section>
+ <makefile>
+ARCH=stm32
+ARCHI=stm32
+SRC_ARCH=$(ARCH)
+BOARD_CFG=\"boards/lisa_0.99.h\"
+FLASH_MODE = JTAG
+
+include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing_common.makefile
+include $(CFG_FIXEDWING)/fixedwing_autopilot.makefile
+
+# FLASH_MODE=IAP
+
+# ap.CFLAGS += -DFBW -DAP -DLED -DTIME_LED=1
+# ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
main_fbw.c main_ap.c
+
+
+# ap.srcs += commands.c
+
+# ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
+# ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
+
+# ap.CFLAGS += -DRADIO_CONTROL
+# ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
+
+# ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1
-DDATALINK=PPRZ -DUART1_BAUD=B9600
+# ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+
+# ap.CFLAGS += -DINTER_MCU
+# ap.srcs += inter_mcu.c
+
+# ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
+# ap.srcs += $(SRC_ARCH)/adc_hw.c
+
+# ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
+# ap.srcs += gps_ubx.c gps.c latlong.c
+
+# ap.CFLAGS += -DINFRARED -DALT_KALMAN
+# ap.srcs += infrared.c estimator.c
+
+# ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
+# ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+
+# ap.CFLAGS += -DGYRO -DADXRS150
+# ap.srcs += gyro.c
+# ap.srcs += nav_line.c nav_survey_rectangle.c
+
+# Config for SITL simulation
+# include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+# sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM
-DALT_KALMAN -DTRAFFIC_INFO
+# sim.srcs += nav_survey_rectangle.c traffic_info.c nav_line.c
+ </makefile>
+</airframe>
Added: paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml
(rev 0)
+++ paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml
2010-07-25 14:42:39 UTC (rev 5146)
@@ -0,0 +1,223 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<!-- Microjet Multiplex (http://www.multiplex-rc.de/)
+ Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
+ Tilted infrared sensor
+ Transparent modem
+-->
+
+<airframe name="Fixed Wing Lisa">
+ <servos>
+ <servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
+ <servo name="AILEVON_LEFT" no="2" min="1130" neutral="1575" max="1880"/>
+ <servo name="AILEVON_RIGHT" no="6" min="1980" neutral="1465" max="1170"/>
+ </servos>
+
+ <commands>
+ <axis name="THROTTLE" failsafe_value="0"/>
+ <axis name="ROLL" failsafe_value="0"/>
+ <axis name="PITCH" failsafe_value="0"/>
+ <axis name="HATCH" failsafe_value="0"/>
+ </commands>
+
+ <rc_commands>
+ <set command="THROTTLE" value="@THROTTLE"/>
+ <set command="ROLL" value="@ROLL"/>
+ <set command="PITCH" value="@PITCH"/>
+ </rc_commands>
+
+ <section name="MIXER">
+ <define name="AILEVON_AILERON_RATE" value="0.75"/>
+ <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
+ </section>
+
+ <command_laws>
+ <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
+ <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
+ <set servo="MOTOR" value="@THROTTLE"/>
+ <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
+ <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
+ </command_laws>
+
+ <section name="AUTO1" prefix="AUTO1_">
+ <define name="MAX_ROLL" value="0.85"/>
+ <define name="MAX_PITCH" value="0.6"/>
+ </section>
+
+ <section name="adc" prefix="ADC_CHANNEL_">
+ <define name="IR1" value="ADC_1"/>
+ <define name="IR2" value="ADC_2"/>
+ <define name="IR_TOP" value="ADC_3"/>
+ <define name="IR_NB_SAMPLES" value="16"/>
+
+ <define name="GYRO_ROLL" value="ADC_3"/>
+ <define name="GYRO_NB_SAMPLES" value="16"/>
+
+ </section>
+
+ <section name="INFRARED" prefix="IR_">
+ <define name="ADC_IR1_NEUTRAL" value="512"/>
+ <define name="ADC_IR2_NEUTRAL" value="512"/>
+ <define name="ADC_TOP_NEUTRAL" value="512"/>
+
+ <define name="LATERAL_CORRECTION" value="1."/>
+ <define name="LONGITUDINAL_CORRECTION" value="1."/>
+ <define name="VERTICAL_CORRECTION" value="1.5"/>
+
+ <define name="HORIZ_SENSOR_TILTED" value="1"/>
+ <define name="IR2_SIGN" value="-1"/>
+ <define name="TOP_SIGN" value="-1"/>
+
+ <define name="ROLL_NEUTRAL_DEFAULT" value="-3.6" unit="deg"/>
+ <define name="PITCH_NEUTRAL_DEFAULT" value="5" unit="deg"/>
+
+ <define name="CORRECTION_UP" value="1."/>
+ <define name="CORRECTION_DOWN" value="1."/>
+ <define name="CORRECTION_LEFT" value="1."/>
+ <define name="CORRECTION_RIGHT" value="1."/>
+ </section>
+
+ <section name="GYRO" prefix="GYRO_">
+ <define name="ADC_ROLL_NEUTRAL" value="520"/>
+ <define name="ADC_TEMP_NEUTRAL" value="476"/>
+ <define name="ADC_TEMP_SLOPE" value="0"/>
+ <define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
+ <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
+ <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
+ <define name="ROLL_SCALE"
value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)"
unit="deg/s/adc_unit"/>
+ <define name="ROLL_DIRECTION" value="-1."/>
+ </section>
+
+ <section name="BAT">
+ <define name="MILLIAMP_AT_FULL_THROTTLE" value="2000"/>
+
+ <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+ </section>
+
+ <section name="MISC">
+ <define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/>
+ <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
+ <define name="MAXIMUM_AIRSPEED" value="25." unit="m/s"/>
+ <define name="CARROT" value="5." unit="s"/>
+ <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
+ <define name="CONTROL_RATE" value="60" unit="Hz"/>
+ <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
+
+ <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
+ <define name="MIN_CIRCLE_RADIUS" value="50."/>
+ </section>
+
+ <section name="VERTICAL CONTROL" prefix="V_CTL_">
+
+ <!-- outer loop proportional gain -->
+ <define name="ALTITUDE_PGAIN" value="-0.04"/>
+ <!-- outer loop saturation -->
+ <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+ <!-- auto throttle inner loop -->
+ <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.35"/>
+ <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
+ <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
+ <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
+ <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
+ <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1"
unit="%/(m/s)"/>
+ <define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
+ <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
+ <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
+
+ <!-- auto pitch inner loop -->
+ <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
+ <define name="AUTO_PITCH_IGAIN" value="0.075"/>
+ <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
+ <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
+
+ <define name="THROTTLE_SLEW" value="0.5"/>
+
+ </section>
+
+ <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+ <define name="COURSE_PGAIN" value="-0.8"/>
+
+ <define name="ROLL_MAX_SETPOINT" value="0.7" unit="radians"/>
+ <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
+ <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+
+ <define name="PITCH_PGAIN" value="-10000."/>
+ <define name="PITCH_DGAIN" value="1.5"/>
+
+ <define name="ELEVATOR_OF_ROLL" value="2500"/>
+
+ <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+ <define name="ROLL_RATE_GAIN" value="-1500"/>
+ </section>
+
+ <section name="AGGRESSIVE" prefix="AGR_">
+ <define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate
Aggressive Climb CANNOT BE ZERO!!-->
+ <define name="BLEND_END" value="10"/><!-- Altitude Error to Blend
Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
+ <define name="CLIMB_THROTTLE" value="0.6"/><!-- Gaz for Aggressive Climb
-->
+ <define name="CLIMB_PITCH" value="0.20"/><!-- Pitch for Aggressive Climb
-->
+ <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive
Decent -->
+ <define name="DESCENT_PITCH" value="-0.15"/><!-- Pitch for Aggressive
Decent -->
+ <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for
Altitude Error Equal to Start Altitude -->
+ <define name="DESCENT_NAV_RATIO" value="1.0"/>
+ </section>
+
+ <section name="FAILSAFE" prefix="FAILSAFE_">
+ <define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
+ <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+ <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+ <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+ <define name="HOME_RADIUS" value="100" unit="m"/>
+ </section>
+ <makefile>
+ARCH=arm7
+ARCHI=arm7
+SRC_ARCH=$(ARCH)
+BOARD_CFG=\"tiny2_1_1.h\"
+FLASH_MODE = JTAG
+
+include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing_common.makefile
+include $(CFG_FIXEDWING)/fixedwing_autopilot.makefile
+
+# FLASH_MODE=IAP
+
+# ap.CFLAGS += -DFBW -DAP -DLED -DTIME_LED=1
+# ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
main_fbw.c main_ap.c
+
+
+# ap.srcs += commands.c
+
+# ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
+# ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
+
+# ap.CFLAGS += -DRADIO_CONTROL
+# ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
+
+# ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1
-DDATALINK=PPRZ -DUART1_BAUD=B9600
+# ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+
+# ap.CFLAGS += -DINTER_MCU
+# ap.srcs += inter_mcu.c
+
+# ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
+# ap.srcs += $(SRC_ARCH)/adc_hw.c
+
+# ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
+# ap.srcs += gps_ubx.c gps.c latlong.c
+
+# ap.CFLAGS += -DINFRARED -DALT_KALMAN
+# ap.srcs += infrared.c estimator.c
+
+# ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
+# ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+
+# ap.CFLAGS += -DGYRO -DADXRS150
+# ap.srcs += gyro.c
+# ap.srcs += nav_line.c nav_survey_rectangle.c
+
+# Config for SITL simulation
+# include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+# sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM
-DALT_KALMAN -DTRAFFIC_INFO
+# sim.srcs += nav_survey_rectangle.c traffic_info.c nav_line.c
+ </makefile>
+</airframe>
Added: paparazzi3/trunk/conf/autopilot/fixedwing_autopilot.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/fixedwing_autopilot.makefile
(rev 0)
+++ paparazzi3/trunk/conf/autopilot/fixedwing_autopilot.makefile
2010-07-25 14:42:39 UTC (rev 5146)
@@ -0,0 +1,201 @@
+#
+# $Id: booz2_autopilot.makefile 4827 2010-04-21 08:02:18Z poine $
+#
+# Copyright (C) 2008 Antoine Drouin
+#
+# This file is part of paparazzi.
+#
+# paparazzi is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2, or (at your option)
+# any later version.
+#
+# paparazzi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with paparazzi; see the file COPYING. If not, write to
+# the Free Software Foundation, 59 Temple Place - Suite 330,
+# Boston, MA 02111-1307, USA.
+#
+#
+
+ap.ARCHDIR = $(ARCHI)
+# this is supposedly ignored by the stm32 makefile
+ap.ARCH = arm7tdmi
+ap.TARGET = ap
+ap.TARGETDIR = ap
+
+
+ap.CFLAGS += $(FIXEDWING_INC)
+ap.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+ap.srcs = $(SRC_FIXEDWING)/main.c
+
+ifeq ($(ARCHI), stm32)
+ap.srcs += lisa/plug_sys.c
+endif
+
+#
+# Interrupts
+#
+ifeq ($(ARCHI), arm7)
+ap.srcs += $(SRC_ARCH)/armVIC.c
+else ifeq ($(ARCHI), stm32)
+ap.srcs += $(SRC_ARCH)/stm32_exceptions.c
+ap.srcs += $(SRC_ARCH)/stm32_vector_table.c
+endif
+
+#
+# LEDs
+#
+ap.CFLAGS += -DUSE_LED
+ifeq ($(ARCHI), stm32)
+ap.srcs += $(SRC_ARCH)/led_hw.c
+endif
+
+#
+# Systime
+#
+ap.CFLAGS += -DUSE_SYS_TIME
+ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./60.))'
+ifeq ($(ARCHI), stm32)
+ap.CFLAGS += -DSYS_TIME_LED=1
+endif
+
+#
+# FlyByWire
+#
+ap.CFLAGS += -DFBW
+ap.srcs += $(SRC_FIXEDWING)/main_fbw.c
+
+#
+# Telemetry/Datalink
+#
+# ap.srcs += $(SRC_ARCH)/uart_hw.c
+# ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
+# ap.srcs += $(SRC_FIXEDWING)/booz2_telemetry.c \
+# downlink.c \
+# pprz_transport.c
+# ap.CFLAGS += -DDATALINK=PPRZ
+# ap.srcs += $(SRC_FIXEDWING)/booz2_datalink.c
+
+# ifeq ($(ARCHI), arm7)
+# ap.CFLAGS += -DUSE_UART1 -DUART1_VIC_SLOT=6 -DUART1_BAUD=MODEM_BAUD
+# ap.CFLAGS += -DDOWNLINK_DEVICE=Uart1
+# ap.CFLAGS += -DPPRZ_UART=Uart1
+# else ifeq ($(ARCHI), stm32)
+# ap.CFLAGS += -DUSE_UART2 -DUART2_BAUD=MODEM_BAUD
+# ap.CFLAGS += -DDOWNLINK_DEVICE=Uart2
+# ap.CFLAGS += -DPPRZ_UART=Uart2
+# endif
+
+
+# ap.srcs += $(SRC_FIXEDWING)/booz2_commands.c
+
+#
+# Radio control choice
+#
+# include booz2_radio_control_ppm.makefile
+# or
+# include booz2_radio_control_spektrum.makefile
+#
+
+#
+# Actuator choice
+#
+# include booz2_actuators_buss.makefile
+# or
+# include booz2_actuators_asctec.makefile
+#
+
+#
+# IMU choice
+#
+# include booz2_imu_b2v1.makefile
+# or
+# include booz2_imu_b2v1_1.makefile
+# or
+# include booz2_imu_crista.makefile
+#
+
+
+# ifeq ($(ARCHI), arm7)
+# ap.CFLAGS += -DBOOZ2_ANALOG_BARO_LED=2
-DBOOZ2_ANALOG_BARO_PERIOD='SYS_TICS_OF_SEC((1./100.))'
+# ap.srcs += $(SRC_FIXEDWING)/booz2_analog_baro.c
+#
+# ap.CFLAGS += -DBOOZ2_ANALOG_BATTERY_PERIOD='SYS_TICS_OF_SEC((1./10.))'
+# ap.srcs += $(SRC_FIXEDWING)/booz2_battery.c
+#
+# ap.CFLAGS += -DADC0_VIC_SLOT=2
+# ap.CFLAGS += -DADC1_VIC_SLOT=3
+# ap.srcs += $(SRC_FIXEDWING)/booz2_analog.c \
+# $(SRC_FIXEDWING_ARCH)/booz2_analog_hw.c
+# else ifeq ($(ARCHI), stm32)
+# ap.srcs += lisa/lisa_analog_plug.c
+# endif
+
+
+#
+# GPS choice
+#
+# include booz2_gps.makefile
+# or
+# nothing
+#
+
+
+#
+# AHRS choice
+#
+# include booz2_ahrs_cmpl.makefile
+# or
+# include booz2_ahrs_lkf.makefile
+#
+
+# ap.srcs += $(SRC_FIXEDWING)/booz2_autopilot.c
+
+# ap.srcs += math/pprz_trig_int.c
+# ap.srcs += $(SRC_FIXEDWING)/booz_stabilization.c
+# ap.srcs += $(SRC_FIXEDWING)/stabilization/booz_stabilization_rate.c
+
+
+# ap.CFLAGS += -DSTABILISATION_ATTITUDE_TYPE_INT
+# ap.CFLAGS +=
-DSTABILISATION_ATTITUDE_H=\"stabilization/booz_stabilization_attitude_int.h\"
+# ap.CFLAGS +=
-DSTABILISATION_ATTITUDE_REF_H=\"stabilization/booz_stabilization_attitude_ref_euler_int.h\"
+# ap.srcs +=
$(SRC_FIXEDWING)/stabilization/booz_stabilization_attitude_ref_euler_int.c
+# ap.srcs +=
$(SRC_FIXEDWING)/stabilization/booz_stabilization_attitude_euler_int.c
+
+# ap.CFLAGS += -DUSE_NAVIGATION
+# ap.srcs += $(SRC_FIXEDWING)/guidance/booz2_guidance_h.c
+# ap.srcs += $(SRC_FIXEDWING)/guidance/booz2_guidance_v.c
+
+# ap.srcs += $(SRC_FIXEDWING)/booz2_ins.c
+# ap.srcs += math/pprz_geodetic_int.c math/pprz_geodetic_float.c
math/pprz_geodetic_double.c
+
+#
+# INS choice
+#
+# include booz2_ins_hff.makefile
+# or
+# nothing
+#
+
+# vertical filter float version
+# ap.srcs += $(SRC_FIXEDWING)/ins/booz2_vf_float.c
+# ap.CFLAGS += -DUSE_VFF -DDT_VFILTER="(1./512.)"
+
+# ap.srcs += $(SRC_FIXEDWING)/booz2_navigation.c
+
+
+#
+# FMS choice
+#
+# include booz2_fms_test_signal.makefile
+# or
+# include booz2_fms_datalink.makefile
+# or
+# nothing
+#
Added: paparazzi3/trunk/conf/autopilot/fixedwing_common.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/fixedwing_common.makefile
(rev 0)
+++ paparazzi3/trunk/conf/autopilot/fixedwing_common.makefile 2010-07-25
14:42:39 UTC (rev 5146)
@@ -0,0 +1,10 @@
+
+
+
+SRC_FIXEDWING=./
+SRC_FIXEDWING_ARCH=$(SRC_FIXEDWING)/$(ARCH)
+SRC_FIXEDWING_TEST=$(SRC_FIXEDWING)/
+
+CFG_FIXEDWING=$(PAPARAZZI_SRC)/conf/autopilot/
+
+FIXEDWING_INC = -I$(SRC_FIXEDWING) -I$(SRC_FIXEDWING_ARCH)
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